Yutaka Nakamura

ORCID

Publication Activity (10 Years)

Years Active: 1983-2024
Publications (10 Years): 66

Top Venues

Artif. Life Robotics

HRI (Companion)

CoRR

IEICE Trans. Inf. Syst.

Publications

Yuya Okadome, Yutaka Nakamura
Generating Interaction Behavior During a Dyadic Conversation Using a Diffusion Model. ICCAE (2024)
Shohei Noguchi, Yutaka Nakamura, Yuya Okadome
Development of a Attentive Listening Robot Using the Motion Prediction Based on Surrogate Data. HCI (56) (2024)
Yuya Okadome, Yutaka Nakamura
Feature Extraction Method Using Lag Operation for Sub-Grouped Multidimensional Time Series Data. IEEE Access 12 (2024)
Yuya Okadome, Yutaka Nakamura
Extracting Feature Space for Synchronizing Behavior in an Interaction Scene Using Unannotated Data. ICANN (8) (2023)
Zhichao Chen, Yutaka Nakamura, Hiroshi Ishiguro
Outperformance of Mall-Receptionist Android as Inverse Reinforcement Learning is Transitioned to Reinforcement Learning. IEEE Robotics Autom. Lett. 8 (6) (2023)
Zhichao Chen, Yutaka Nakamura, Hiroshi Ishiguro
Android as a Receptionist in a Shopping Mall Using Inverse Reinforcement Learning. IEEE Robotics Autom. Lett. 7 (3) (2022)
Naoki Ise, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Gaze Motion and Subjective Workload Assessment While Performing a Task Walking Hand in Hand with a Mobile Robot. Int. J. Soc. Robotics 14 (8) (2022)
Yutaka Fukuda, Takuji Hatase, Akihiro Satoh, Yutaka Nakamura, Sujiro Wada
Characterizing the basic performance of IEEE 802.11ax using actual hardware measurements. NOMS (2022)
Yutaka Nakamura
Editor's Message to Special Issue of "the Internet and Operation Technologies for Considering to a New Normal". J. Inf. Process. 30 (2022)
Yoshihiro Nakata, Satoshi Yagi, Shiqi Yu, Yifei Wang, Naoki Ise, Yutaka Nakamura, Hiroshi Ishiguro
Development of 'ibuki' an electrically actuated childlike android with mobility and its potential in the future society. Robotica 40 (4) (2022)
Hiroto Yamada, Daiki Nobayashi, Akihiro Satoh, Yutaka Nakamura, Takeshi Ikenaga
Unknown Malicious Domain Detection based on DNS Query Analysis using Word2Vec. CSCI (2022)
Huthaifa Ahmad, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Adjustable whole-body dynamics for adaptive locomotion: the influence of upper body movements and its interactions with the lower body parts on the stable locomotion of a simple bipedal robot. Robotica 40 (9) (2022)
Kazuki Sakai, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Effect of Robot Embodiment on Satisfaction With Recommendations in Shopping Malls. IEEE Robotics Autom. Lett. 7 (1) (2022)
Akishige Yuguchi, Seiya Kawano, Koichiro Yoshino, Carlos Toshinori Ishi, Yasutomo Kawanishi, Yutaka Nakamura, Takashi Minato, Yasuki Saito, Michihiko Minoh
Butsukusa: A Conversational Mobile Robot Describing Its Own Observations and Internal States. HRI (2022)
Kazuya Horibe, Yuanxiang Fan, Yutaka Nakamura, Hiroshi Ishiguro
Investigating the impact of free energy based behavior on human in human-agent interaction. CoRR (2022)
Takahisa Uchida, Takashi Minato, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Female-Type Android's Drive to Quickly Understand a User's Concept of Preferences Stimulates Dialogue Satisfaction: Dialogue Strategies for Modeling User's Concept of Preferences. Int. J. Soc. Robotics 13 (6) (2021)
Akihiro Satoh, Yutaka Nakamura, Yutaka Fukuda, Daiki Nobayashi, Takeshi Ikenaga
An Approach for Identifying Malicious Domain Names Generated by Dictionary-Based DGA Bots. IEICE Trans. Inf. Syst. (5) (2021)
Satoshi Yagi, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Perception of Emotional Expression of Mobile Humanoid Robot Using Gait-Induced Upper Body Motion. IEEE Access 9 (2021)
Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Inter-Module Physical Interactions: A Force-Transmissive Modular Structure for Whole-Body Robot Motion. J. Robotics Mechatronics 33 (5) (2021)
Masaru Sasaki, Jiro Shimaya, Yutaka Nakamura
Pilot Study: Does Phonological Similarity of Words Enhance Humor in "Soramimi" Parody Songs? HCI (37) (2021)
Huthaifa Ahmad, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
PedestriANS: a bipedal robot with adaptive morphology. Adapt. Behav. 29 (4) (2021)
Mofei Li, Yutaka Nakamura, Hiroshi Ishiguro
Choice modeling using dot-product attention mechanism. Artif. Life Robotics 26 (1) (2021)
Hiroshi Ishiguro, Tatsuya Kawahara, Yutaka Nakamura
Autonomous Dialogue Technologies in Symbiotic Human-robot Interaction. HRI (Companion) (2020)
Yusuke Nishimura, Yutaka Nakamura, Hiroshi Ishiguro
Human interaction behavior modeling using Generative Adversarial Networks. Neural Networks 132 (2020)
Yusuke Nishimura, Yutaka Nakamura, Hiroshi Ishiguro
Long-term Motion Generation for Interactive Humanoid Robots using GAN with Convolutional Network. HRI (Companion) (2020)
Satoshi Yagi, Naoki Ise, Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Perception of Emotional Gait-like Motion of Mobile Humanoid Robot Using Vertical Oscillation. HRI (Companion) (2020)
Shiqi Yu, Yusuke Nishimura, Satoshi Yagi, Naoki Ise, Yifei Wang, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
A Software Framework to Create Behaviors for Androids and Its Implementation on the Mobile Android "ibuki". HRI (Companion) (2020)
Jiro Shimaya, Nao Hanyu, Yutaka Nakamura
Automatic Generation of Homophonic Transformation for Japanese Wordplay Based on Edit Distance and Phrase Breaks. HCI (34) (2019)
Asuka Minami, Hideyuki Takahashi, Midori Ban, Yutaka Nakamura, Hiroshi Ishiguro
Neural Generative Model for Minimal Biological Motion Patterns Evoking Emotional Impressions. HCI (33) (2019)
Midori Ban, Hideyuki Takahashi, Naoko Omi, Ryuta Ueda, Sanae Kagawa, Hisashi Ishihara, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Generation of Atmosphere with Haptic Impressions by Using Surrounding Visual Stimuli. HCI (33) (2019)
Hideyuki Takahashi, Midori Ban, Naoko Omi, Ryuta Ueda, Sanae Kagawa, Hisashi Ishihara, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Can We Recognize Atmosphere as an Agent? - Pilot Study. HCI (34) (2019)
Akihiro Satoh, Yutaka Nakamura, Yutaka Fukuda, Kazuto Sasai, Gen Kitagata
A Cause-Based Classification Approach for Malicious DNS Queries Detected Through Blacklists. IEEE Access 7 (2019)
Saeko Shigaki, Jiro Shimaya, Kazuki Sakai, Atsushi Shibai, Mitsuki Minamikawa, Yutaka Nakamura
Developing a Behavior Converter to Make a Robot Child-Like for Enhancing Human Utterances. HCI (34) (2019)
Akihiro Satoh, Yutaka Nakamura, Daiki Nobayashi, Kazuto Sasai, Gen Kitagata, Takeshi Ikenaga
Clustering Malicious DNS Queries for Blacklist-Based Detection. IEICE Trans. Inf. Syst. (7) (2019)
Ahmed Hussain Qureshi, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Intrinsically motivated reinforcement learning for human-robot interaction in the real-world. Neural Networks 107 (2018)
Huthaifa Ahmad, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
A study on energy transfer among limbs in a legged robot locomotion. Adapt. Behav. 26 (6) (2018)
Ahmed Hussain Qureshi, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Intrinsically motivated reinforcement learning for human-robot interaction in the real-world. CoRR (2018)
Huthaifa Ahmad, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
A Bipedal Robot with an Energy Transfer Mechanism between Legs: A Pilot Study. ROBIO (2018)
Akihiro Satoh, Yutaka Nakamura, Daiki Nobayashi, Takeshi Ikenaga
Estimating the Randomness of Domain Names for DGA Bot Callbacks. IEEE Commun. Lett. 22 (7) (2018)
Kenta Maeda, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Effect of the cervical structure on the operability of teleoperated humanoid head. Artif. Life Robotics 22 (4) (2017)
Ahmed Hussain Qureshi, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Robot gains Social Intelligence through Multimodal Deep Reinforcement Learning. CoRR (2017)
Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
A design of robotic spine composed of parallelogram actuation modules. Artif. Life Robotics 22 (4) (2017)
Yoshiaki Taniguchi, Koji Suganuma, Takaaki Deguchi, Go Hasegawa, Yutaka Nakamura, Norimichi Ukita, Naoki Aizawa, Katsuhiko Shibata, Kazuhiro Matsuda, Morito Matsuoka
Tandem Equipment Arranged Architecture with Exhaust Heat Reuse System for Software-Defined Data Center Infrastructure. IEEE Trans. Cloud Comput. 5 (2) (2017)
Tatsuya Nakamura, Tomu Tominaga, Miki Watanabe, Nattapong Thammasan, Kenji Urai, Yutaka Nakamura, Kazufumi Hosoda, Takahiro Hara, Yoshinori Hijikata
Investigation on dynamics of group decision making with collaborative web search. WI (2017)
Ahmed Hussain Qureshi, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Show, Attend and Interact: Perceivable Human-Robot Social Interaction through Neural Attention Q-Network. CoRR (2017)
Ahmed Hussain Qureshi, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Show, attend and interact: Perceivable human-robot social interaction through neural attention Q-network. ICRA (2017)
Yuya Okadome, Yutaka Nakamura, Hiroshi Ishiguro
A confidence-based roadmap using Gaussian process regression. Auton. Robots 41 (4) (2017)
Andrei S. Ramalho, Yutaka Nakamura, Yoshihiro Nakata, Hiroshi Ishiguro
Design strategy for robotic spines of Androids with a natural postural appearance. Humanoids (2016)
Hideyuki Ryu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Adaptive Whole-Body Dynamics: An Actuator Network System for Orchestrating Multijoint Movements. IEEE Robotics Autom. Mag. 23 (3) (2016)
Shinya Tashiro, Yutaka Nakamura, Kazuhiro Matsuda, Morito Matsuoka
Application of Convolutional Neural Network to Prediction of Temperature Distribution in Data Centers. CLOUD (2016)
Yuya Tarutani, Kazuyuki Hashimoto, Go Hasegawa, Yutaka Nakamura, Takumi Tamura, Kazuhiro Matsuda, Morito Matsuoka
Reducing Power Consumption in Data Center by Predicting Temperature Distribution and Air Conditioner Efficiency with Machine Learning. IC2E (2016)
Hideyuki Ryu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Adaptive locomotion by two types of legged robots with an actuator network system. IROS (2016)
Yutaka Nakamura, Kazuhiro Matsuda, Morito Matsuoka
Augmented Data Center Infrastructure Management System for Minimizing Energy Consumption. CloudNet (2016)
Takaaki Deguchi, Yoshiaki Taniguchi, Go Hasegawa, Yutaka Nakamura, Norimichi Ukita, Kazuhiro Matsuda, Morito Matsuoka
A Workload Assignment Policy for Reducing Power Consumption in Software-Defined Data Center Infrastructure. IEICE Trans. Commun. (2) (2016)
Kazufumi Hosoda, Soichiro Tsuda, Kohmei Kadowaki, Yutaka Nakamura, Tadashi Nakano, Kojiro Ishii
Population-reaction model and microbial experimental ecosystems for understanding hierarchical dynamics of ecosystems. Biosyst. 140 (2016)
Ahmed Hussain Qureshi, Yutaka Nakamura, Yuichiro Yoshikawa, Hiroshi Ishiguro
Robot gains social intelligence through multimodal deep reinforcement learning. Humanoids (2016)
Hideyuki Ryu, Yoshihiro Nakata, Yuya Okadome, Yutaka Nakamura, Hiroshi Ishiguro
Study on a Pneumatically Actuated Robot for Simulating Evolutionary Developmental Process of Musculoskeletal Structures. J. Robotics Mechatronics 28 (2) (2016)
Eduardo Castello, Tomoyuki Yamamoto, Fabio Dalla Libera, Wenguo Liu, Alan F. T. Winfield, Yutaka Nakamura, Hiroshi Ishiguro
Adaptive foraging for simulated and real robotic swarms: the dynamical response threshold approach. Swarm Intell. 10 (1) (2016)
Shinya Tashiro, Yuya Tarutani, Go Hasegawa, Yutaka Nakamura, Kazuhiro Matsuda, Morito Matsuoka
A network model for prediction of temperature distribution in data centers. CloudNet (2015)
Yuya Tarutani, Kazuyuki Hashimoto, Go Hasegawa, Yutaka Nakamura, Takumi Tamura, Kazuhiro Matsuda, Morito Matsuoka
Temperature Distribution Prediction in Data Centers for Decreasing Power Consumption by Machine Learning. CloudCom (2015)
Yutaka Nakamura
State-dependent strength-of-preference. Math. Soc. Sci. 78 (2015)
John K. DeBrosse, Thomas M. Maffitt, Yutaka Nakamura, Guenole Jan, Po-Kang Wang
A fully-functional 90nm 8Mb STT MRAM demonstrator featuring trimmed, reference cell-based sensing. CICC (2015)
Yuya Okadome, Yutaka Nakamura, Kenji Urai, Yoshihiro Nakata, Hiroshi Ishiguro
HUMA: A human-like musculoskeletal robot platform for physical interaction studies. Humanoids (2015)
Akihiro Satoh, Yutaka Nakamura, Takeshi Ikenaga
A New Approach to Identify User Authentication Methods toward SSH Dictionary Attack Detection. IEICE Trans. Inf. Syst. (4) (2015)
Akihiro Satoh, Yutaka Nakamura, Takeshi Ikenaga
A flow-based detection method for stealthy dictionary attacks against Secure Shell. J. Inf. Secur. Appl. 21 (2015)
Yutaka Nakamura
Mean-variance utility. J. Econ. Theory 160 (2015)
Yuya Okadome, Yutaka Nakamura, Hiroshi Ishiguro
Predictive control method for a redundant robot using a non-parametric predictor. Adv. Robotics 28 (10) (2014)
Yasutaka Shindo, Akihiro Satoh, Yutaka Nakamura, Katsuyoshi Iida
Lightweight Approach to Detect Drive-by Download Attacks Based on File Type Transition. CoNEXT Student Workshop (2014)
Kenta Yasufuku, Naoto Oshiyama, Toshitada Saito, Yukimasa Miyamoto, Yutaka Nakamura, Ryota Terauchi, Atsushi Kondo, Takuma Aoyama, Masafumi Takahashi, Yukihito Oowaki, Ryoichi Bandai
A UHS-II SD card controller with 240MB/s write throughput and 260MB/s read throughput. A-SSCC (2014)
Kenji Urai, Yuya Okadome, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro
Estimation of physical interaction between a musculoskeletal robot and its surroundings. Artif. Life Robotics 19 (2) (2014)
Yuya Okadome, Kenji Urai, Yutaka Nakamura, Tetsuya Yomo, Hiroshi Ishiguro
Adaptive LSH based on the particle swarm method with the attractor selection model for fast approximation of Gaussian process regression. Artif. Life Robotics 19 (3) (2014)
Jumpei Yamanaka, Yutaka Nakamura, Hiroshi Ishiguro
A feature selection method for a sample-based stochastic policy. Artif. Life Robotics 19 (3) (2014)
Takaaki Deguchi, Yoshiaki Taniguchi, Go Hasegawa, Yutaka Nakamura, Norimichi Ukita, Kazuhiro Matsuda, Morito Matsuoka
Impact of workload assignment on power consumption in software-defined data center infrastructure. CloudNet (2014)
Yuya Okadome, Yutaka Nakamura, Kenji Urai, Yoshihiro Nakata, Hiroshi Ishiguro
Confidence-based roadmap using Gaussian process regression for a robot control. IROS (2014)
Eduardo Castello, Tomoyuki Yamamoto, Yutaka Nakamura, Hiroshi Ishiguro
Foraging optimization in swarm robotic systems based on an adaptive response threshold model. Adv. Robotics 28 (20) (2014)
Yuya Okadome, Yutaka Nakamura, Yumi Shikauchi, Shin Ishii, Hiroshi Ishiguro
Fast Approximation Method for Gaussian Process Regression Using Hash Function for Non-uniformly Distributed Data. ICANN (2013)
Yoshihiro Nakata, Atsuhiro Ide, Yutaka Nakamura, Katsuhiro Hirata, Hiroshi Ishiguro
Hopping by a Monopedal Robot with a Biarticular Muscle by Compliance Control - An Application of an Electromagnetic Linear Actuator -. J. Robotics Mechatronics 25 (1) (2013)
Hiroshi Furukawa, Yutaka Nakamura
A Pedestrian Navigation Method for User's Safe and Easy Wayfinding. HCI (3) (2013)
Tadashi Nakano, Kazufumi Hosoda, Yutaka Nakamura, Kojiro Ishii
A Biologically-inspired Intrabody Nanonetwork: Design Considerations. BODYNETS (2013)
Akihiro Satoh, Yutaka Nakamura, Takeshi Ikenaga
Identifying User Authentication Methods on Connections for SSH Dictionary Attack Detection. COMPSAC Workshops (2013)
Kin Chung Denny Fu, Yutaka Nakamura, Tomoyuki Yamamoto, Hiroshi Ishiguro
Analysis of Motor Synergies Utilization for Optimal Movement Generation for a Human-like Robotic Arm. Int. J. Autom. Comput. 10 (6) (2013)
Noriko Takemura, Yutaka Nakamura, Yoshio Matsumoto, Hiroshi Ishiguro
A Path-Planning Method for Human-Tracking Agents Based on Long-Term Prediction. IEEE Trans. Syst. Man Cybern. Part C 42 (6) (2012)
Kin Chung Denny Fu, Yutaka Nakamura, Tomoyuki Yamamoto, Hiroshi Ishiguro
Studies of motor synergies in generating optimal goal-directed movements in human-like robotic arm. ROBIO (2012)
Surya Girinatha Nurzaman, Yoshio Matsumoto, Yutaka Nakamura, Kazumichi Shirai, Hiroshi Ishiguro
Bacteria-inspired underactuated mobile robot based on a biological fluctuation. Adapt. Behav. 20 (4) (2012)
Akihiro Satoh, Yutaka Nakamura, Takeshi Ikenaga
SSH Dictionary Attack Detection Based on Flow Analysis. SAINT (2012)
Yoshihiro Nakata, Atsuhiro Ide, Yutaka Nakamura, Katsuhiro Hirata, Hiroshi Ishiguro
Hopping of a monopedal robot with a biarticular muscle driven by electromagnetic linear actuators. ICRA (2012)
Hiroki Matsumoto, Yoshio Iwai, Yutaka Nakamura, Hiroshi Ishiguro
An Air Conditioning Control Method Based on Biological Fluctuation. HCI (10) (2011)
Surya Girinatha Nurzaman, Yoshio Matsumoto, Yutaka Nakamura, Satoshi Koizumi, Hiroshi Ishiguro
'-Based Adaptive Mobile Robot Search With and Without Gradient Sensing: From Bacterial Chemotaxis to a Levy Walk. Adv. Robotics 25 (16) (2011)
Noriko Takemura, Yutaka Nakamura, Hiroshi Ishiguro
A path planning method for human tracking agents using variable-term prediction based on dynamic k-nearest neighbor algorithm. IROS (2011)
Gary S. Ditlow, Robert K. Montoye, Salvatore N. Storino, Sherman M. Dance, Sebastian Ehrenreich, Bruce M. Fleischer, Thomas W. Fox, Kyle M. Holmes, Junichi Mihara, Yutaka Nakamura, Shohji Onishi, Robert Shearer, Dieter F. Wendel, Leland Chang
A 4R2W register file for a 2.3GHz wire-speed POWER™ processor with double-pumped write operation. ISSCC (2011)
Noriko Takemura, Yutaka Nakamura, Yoshio Matsumoto, Hiroshi Ishiguro
Human tracking with variable prediction steps based on Kullback-Leibler divergence. Artif. Life Robotics 15 (1) (2010)
Noriko Takemura, Yutaka Nakamura, Yoshio Matsumoto, Hiroshi Ishiguro
A Path Planning Method for Human Tracking Agents Using Variable-Term Prediction. ICANN (3) (2010)
Surya Girinatha Nurzaman, Yoshio Matsumoto, Yutaka Nakamura, Kazumichi Shirai, Satoshi Koizumi, Hiroshi Ishiguro
An adaptive switching behavior between levy and Brownian random search in a mobile robot based on biological fluctuation. IROS (2010)
Atsushi Sugahara, Yutaka Nakamura, Ippei Fukuyori, Yoshio Matsumoto, Hiroshi Ishiguro
Generating Circular Motion of a Human-Like Robotic Arm Using Attractor Selection Model. J. Robotics Mechatronics 22 (3) (2010)
Daiki Nobayashi, Takashi Sera, Takeshi Ikenaga, Yutaka Nakamura, Yoshiaki Hori
A network reconfiguration scheme against misbehaving nodes. LCN (2010)
Eri Takano, Takenobu Chikaraishi, Yoshio Matsumoto, Yutaka Nakamura, Hiroshi Ishiguro, Kazuomi Sugamoto
Psychological effects on interpersonal communication by bystander android using motions based on human-like needs. IROS (2009)
Daiki Nobayashi, Yutaka Nakamura, Takeshi Ikenaga, Yoshiaki Hori, Katsuichi Nakamura, Hiroshi Ishinishi, Syuuji Kaizaki
Access point evaluation using packet transfer ratio in multihop wireless networks. ICOIN (2009)
Kazumichi Shirai, Yoshio Matsumoto, Yutaka Nakamura, Satoshi Koizumi, Hiroshi Ishiguro
Noise-based underactuated mobile robot inspired by bacterial motion mechanism. IROS (2009)
Daiki Nobayashi, Yutaka Nakamura, Takeshi Ikenaga, Yoshiaki Hori
Development of Single Sign-On System with Hardware Token and Key Management Server. IEICE Trans. Inf. Syst. (5) (2009)
Surya Girinatha Nurzaman, Yoshio Matsumoto, Yutaka Nakamura, Satoshi Koizumi, Hiroshi Ishiguro
Biologically inspired adaptive mobile robot search with and without gradient sensing. IROS (2009)

Yutaka Nakamura.css-eqlu8i{font-size:small;padding-left:4px;}

Publication Activity (10 Years)

Top Topics

Top Venues

Yutaka Nakamura